Add asset bathroom_supplies/personal_care/e37ef37f069159b2a54f3c2a9426307d

.gitattributes

@@ -5860,3 +5860,4 @@ dataset/bathroom_supplies/personal_care/db39eba7e7595f10b8c219f945769e20/afforda
 dataset/bathroom_supplies/personal_care/de2585cc44bb573982a59a874158fa0b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/dee5cb6ba6355d528864e8579f170e32/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/e36d6ace7e595e72afb6ac49ff22e74f/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/e37ef37f069159b2a54f3c2a9426307d/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/bathroom_supplies/personal_care/e37ef37f069159b2a54f3c2a9426307d/affordance/affordance_annot.json

@@ -0,0 +1,122 @@
+{
+    "affordances": [
+        {
+            "part_name": "container body",
+            "mask_color": "Blue",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the container body from the sides to pick up and move the container",
+                    "confidence": 0.94
+                },
+                {
+                    "scenario": "hold the body to stabilize the container while removing or attaching the lid",
+                    "confidence": 0.89
+                },
+                {
+                    "scenario": "grasp the body to reposition the container on a shelf or counter",
+                    "confidence": 0.91
+                }
+            ],
+            "functional_labels": [
+                "contain stored contents",
+                "provide the main structure",
+                "support side grasping",
+                "support the lid",
+                "rest on a surface"
+            ],
+            "semantic_description": "Large white plastic container body with a smooth semi-gloss hard surface, slightly tapered square shape with rounded corners, forming the main lower container and showing printed logo/label graphics on some sides.",
+            "id": 2,
+            "grasp_group": {
+                "grasp_27": {
+                    "confidence": 0.3296602666378021,
+                    "position": [
+                        -0.007915267604403198,
+                        0.12663756939582527,
+                        -0.059246872551739216
+                    ],
+                    "orientation": {
+                        "w": 0.7251565337172855,
+                        "xyz": [
+                            0.6863159507723403,
+                            -0.003145985946516272,
+                            0.05575410384011317
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "lid",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grip the lid edges to remove or reseat the lid",
+                    "confidence": 0.88
+                },
+                {
+                    "scenario": "hold the top rim area to stabilize the container during opening or closing",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "briefly grasp the lid edge to help reposition the container",
+                    "confidence": 0.52
+                }
+            ],
+            "functional_labels": [
+                "cover the container",
+                "provide a sealing edge",
+                "support opening and closing",
+                "protect contents"
+            ],
+            "semantic_description": "Pale blue-gray plastic lid with a smooth semi-gloss finish, square with rounded corners, wrapping around the top opening and forming a thick raised edge.",
+            "id": 3,
+            "grasp_group": {
+                "grasp_55": {
+                    "confidence": 0.5120031237602234,
+                    "position": [
+                        0.08316836424637586,
+                        -0.011094540590420365,
+                        0.11776960175484419
+                    ],
+                    "orientation": {
+                        "w": 0.1712642960754527,
+                        "xyz": [
+                            0.6921796527890209,
+                            -0.6689197918297622,
+                            -0.21000519339549067
+                        ]
+                    }
+                }
+            }
+        },
+        {
+            "part_name": "recessed side panel",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "hook fingers or a gripper onto the recessed side panel to help pull or steady the container",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "use the recessed panel as a secondary contact area while lifting or repositioning the container",
+                    "confidence": 0.58
+                }
+            ],
+            "functional_labels": [
+                "provide a recessed grip area",
+                "add side-wall structural detail",
+                "offer a distinct panel area for handling or design accent"
+            ],
+            "semantic_description": "Rounded-rectangle recessed side panel near the upper side wall, with a pale blue-gray border and a translucent or frosted center insert, smooth and glossy.",
+            "id": 1,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": true,
+        "message": "YES"
+    }
+}

dataset/bathroom_supplies/personal_care/e37ef37f069159b2a54f3c2a9426307d/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c943acae0130e139272edef21a3e37d274f06f1cd95c68954cb8ebf6efc4aba
+size 3781600

dataset/bathroom_supplies/personal_care/e37ef37f069159b2a54f3c2a9426307d/mouthwash_cup_032.urdf

@@ -57,6 +57,7 @@
                <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
             </geometry>
          </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
       </affordance>
       <quality>
          <PartSegChecker>YES</PartSegChecker>